stepperspeed bugfix

CHANGELOG.md

@@ -14,6 +14,17 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Hardware
 
 
+## [25.1.19]
+
+### Added
+
+### Changed
+- Bugfix in ERG Mode
+- Bugfix for spamming log messages when using Peloton and not homed. 
+
+### Hardware
+
+
 ## [25.1.12]
 
 ### Added

include/Main.h

@@ -65,7 +65,6 @@ class SS2K {
   void updateStealthChop();
   void updateStepperSpeed(int speed = 0);
   void checkDriverTemperature();
-  void motorStop(bool releaseTension = false);
   void FTMSModeShiftModifier();
   static void rxSerial(void);
   void txSerial();

src/ERG_Mode.cpp

@@ -1204,9 +1204,8 @@ void ErgMode::_updateValues(int newCadence, Measurement& newWatts, float newIncl
 
 bool ErgMode::_userIsSpinning(int cadence, float incline) {
   if (cadence <= MIN_ERG_CADENCE) {
-    if (!this->engineStopped) {                               // Test so motor stop command only happens once.
-      ss2k->motorStop();                                      // release tension
-      rtConfig->setTargetIncline(incline - WATTS_PER_SHIFT);  // release incline
+    if (!this->engineStopped) {                               // Test so motor stop command only happens once.                                    // release tension
+      rtConfig->setTargetIncline(0);  // release incline
       this->engineStopped = true;
     }
     return false;  // Cadence too low, nothing to do here

src/Main.cpp

@@ -224,7 +224,6 @@ void SS2K::maintenanceLoop(void *pvParameters) {
           speed = userConfig->getStepperSpeed();
         }
       }
-
       ss2k->updateStepperSpeed(speed);
     }
 
@@ -263,10 +262,8 @@ void SS2K::maintenanceLoop(void *pvParameters) {
       userPWC->saveToLittleFS();
     }
 
-    // Things to do every two seconds
-    if ((millis() - intervalTimer) > 2003) {  // add check here for when to restart WiFi
-                                              // maybe if in STA mode and 8.8.8.8 no ping return?
-      // ss2k->restartWifi();
+    // Things to do every one seconds
+    if ((millis() - intervalTimer) > 1003) {
       logHandler.writeLogs();
       webSocketAppender.Loop();
       intervalTimer = millis();
@@ -471,7 +468,7 @@ void SS2K::moveStepper() {
     if (rtConfig->cad.getValue() > 1) {
       stepper->enableOutputs();
       stepper->setAutoEnable(false);
-    }else{
+    } else {
       stepper->setAutoEnable(true);
     }
 
@@ -674,11 +671,28 @@ void SS2K::updateStealthChop() {
 }
 
 // Applies userconfig stepper speed if speed not specified
+/**
+ * @brief Updates the speed of the stepper motor.
+ *
+ * This function updates the speed of the stepper motor to the specified value.
+ * If the provided speed is 0, it retrieves the speed from the user configuration.
+ * The function also includes a tolerance check to avoid unnecessary updates if
+ * the current speed is within 5 units of the target speed.
+ *
+ * @param speed The desired speed for the stepper motor. If 0, the speed is retrieved from user configuration.
+ */
 void SS2K::updateStepperSpeed(int speed) {
   if (speed == 0) {
     speed = userConfig->getStepperSpeed();
   }
-  SS2K_LOG(MAIN_LOG_TAG, "StepperSpeed is now %d", speed);
+  int s = stepper->getSpeedInMilliHz() / 1000;
+  //Because the conversion to/from the TMC driver is not perfect, we need to allow a little bit of slop.
+  //Skip the update if the speed is within 5 of the target.
+  if (abs(s-speed) < 5) {
+    return;
+  }
+  speed = speed;
+  //SS2K_LOG(MAIN_LOG_TAG, "StepperSpeed is now %d, %d", speed, s);
   stepper->setSpeedInHz(speed);
 }
 
@@ -699,14 +713,6 @@ void SS2K::checkDriverTemperature() {
   }
 }
 
-void SS2K::motorStop(bool releaseTension) {
-  stepper->stopMove();
-  stepper->setCurrentPosition(ss2k->targetPosition);
-  if (releaseTension) {
-    stepper->moveTo(ss2k->targetPosition - userConfig->getShiftStep() * 4);
-  }
-}
-
 void SS2K::txSerial() {  // Serial.printf(" Before TX ");
   if (PELOTON_TX && (txCheck >= 1)) {
     static int alternate = 0;